CN102665638B - Walking aid device - Google Patents
Walking aid device Download PDFInfo
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- CN102665638B CN102665638B CN200980162451.2A CN200980162451A CN102665638B CN 102665638 B CN102665638 B CN 102665638B CN 200980162451 A CN200980162451 A CN 200980162451A CN 102665638 B CN102665638 B CN 102665638B
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- walk supporting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
Abstract
Provided is a walking aid device which can apply torque to a knee joint at an appropriate timing. The walking aid device is provided with an actuator, a reaction force sensor, and an angle sensor. The walking aid device is attached to a leg of a user. The actuator can apply torque to the knee joint of one leg of the user. The reaction force sensor detects floor reaction force which the foot of the one leg receives from the floor. The angle sensor detects the hip joint angle about the pitch axis of the one leg. The walking aid device determines the timing, at which the torque in the direction that swings the lower leg backward starts to be applied to the knee joint, on the basis of the detected floor reaction force and the detected hip joint angle.
Description
Technical field
The present invention relates to the walk supporting device of the walking motion of auxiliary user.
Background technology
Studying and torque is being applied thus the walk supporting device of auxiliary walking motion to the leg joint of user.For example, Patent Document 1 discloses auxiliary one leg can not the walk supporting device of the free walking of the user of activity.Below, in this manual, lower limb that can be freely movable by user is called " healthy leg " (Sound Leg), and lower limb that can not be freely movable by least one joint is called " sick lower limb " (Affected Leg).In addition, in this manual, the part between knee joint and ankle is called " lower limb ".Walk supporting device disclosed in patent documentation 1 uses the action pattern of sensor measurement healthy leg, and applies torque in the mode that the action pattern of the action pattern with healthy leg that make disease lower limb is consistent to the joint of sick lower limb.
At first technical literature
Patent documentation
Patent documentation 1: JP No. 2006-314670 public Reported
Summary of the invention
Technical problem to be solved by this invention
If the action of the lower limb desired by user is inconsistent with the action guided the torque that joint applies by walk supporting device, then user will not feel well.Research according to multiple inventor finds: if the moment swung backward lower limb in the tour from supporting leg to free lower limb is inconsistent with the moment starting to apply torque, then user can obviously not feel well.
As the technology of patent documentation 1, if in healthy leg sensor installation, then can measure the action pattern of healthy leg.By applying torque to make disease lower limb identical with the action pattern of healthy leg to the knee joint of sick lower limb, walking motion can be assisted when not causing the significant discomfort of user.But, if on two lower limbs sensor installation, then can cause trouble to user.The output that the invention provides based on the sensor be arranged on one leg applies torque thus the walk supporting device of auxiliary walking motion to the joint of this one leg.This walk supporting device can when not using the information of another one leg, during the supporting leg from one leg, apply torque in the tour during free lower limb in the suitable moment to the knee joint of one leg.That is, this walk supporting device can assist walking motion when not causing the significant discomfort of user.Technology disclosed in this description is suitable for the walk supporting device of the user with a sick lower limb.This walk supporting device suitably can assist the action of sick lower limb, and does not need sensor installation in healthy leg.
For the technological means of dealing with problems
One of new technique disclosed in this description is: on the one leg of user, install the angular transducer detecting joint angle and detect the counter-force sensor of ground reaction force, and determines the moment of torque knee joint being started to the direction applying to make the lower limb of this one leg (lower leg) to swing backward based on the detection data of these sensors.Angular transducer detect at least hip joint around the angle of pitch axis.Below, hip joint is called around the angle of pitch axis at " hip joint angle ".New walk supporting device disclosed in this description is according to detected hip joint angle, and the foot detecting this one leg is positioned at the foot rearward position than another one leg, namely detects this one leg and is in tour from from supporting leg to free lower limb.Meanwhile, when according to the size of detected ground reaction force, this walk supporting device determines that lower limb start to swing backward in this tour.This walk supporting device does not need sensor installation on another lower limb, and can start to apply torque to knee joint in the suitable moment.New technique disclosed in this description only uses the device be arranged on disease lower limb just can realize the walk supporting device of the walking of auxiliary user.
The mechanism applying torque to the knee joint of user has the upper union body be fixed on thigh (upper leg), is fixed on the lower union body on lower limb and links the mount type device of mechanical splice of these two union bodies.In this manual, sometimes the device be arranged on lower limb is called lower limb equipment (or lower limb accessory).Mechanical splice comprises motor, and lower union body is swung.When this lower limb equipment is installed on user, mechanical splice is positioned on the axle roughly the same with the knee joint of user.
Below, for the purpose of simplifying the description, the one leg of user is called the first lower limb, another one leg is called the second lower limb.
In the preferred implementation of the technology disclosed in this description, walk supporting device based on the foot of detected hip joint angular estimation first lower limb relative to the relative position in the horizontal direction of waist position.And, preferably, walk supporting device when the ground reaction force detected is less than predetermined counter-force, starts the torque in the direction applying lower limb are rotated backward during the foot of the first lower limb is positioned at the position after than Lumbar more than predetermined distance to knee joint.In addition, below, sometimes " predetermined distance " is called " both set a distance ", sometimes " predetermined counter-force " is called " set counter-force "." detected ground reaction force is less than the moment of set counter-force " is equivalent to detected ground reaction force changes to the value of below set counter-force moment from the value being greater than set counter-force.Both set a distance depended on the build and stride etc. of each user, and set counter-force depends on the body weight and the speed of travel etc. of user.Therefore, the set counter-force of set Distance geometry by experiment or test determined in advance.But, " both set a distance " be greater than zero value.Determine the moment starting to apply torque as described above, this walk supporting device can start to apply torque in the moment of a series of walking motion being suitable for user.
In addition, it should be noted that the moment that the moment detected ground reaction force being less than set counter-force adds that small shift time obtains is defined as starting to apply the moment of torque in fact also in the scope of technological thought of the present invention.The moment that the moment that walk supporting device disclosed in this description at least prevents user to want lower limb are swung backward and walk supporting device start to apply torque has very large difference.The very large difference in this moment will cause the sense of discomfort of user.Walk supporting device disclosed in this description reduces such sense of discomfort.Therefore, the device adding above-mentioned small shift time is also comprised in the technological thought disclosed in this description.
Assuming that thigh and lower limb be a straight line or supposition thigh and lower limb at an angle, according to the relative position of hip joint angular estimation foot relative to waist position.In addition, the hip joint angle detected can be preferably the absolute angle relative to plumb line, also can be take trunk as the relative angle of benchmark.This is because trunk cardinal principle vertical usually.When knee angle can be detected, according to hip joint angle and knee angle, estimate relative position accurately.
The size of set counter-force is preferably greater than the value of zero.Knownly to swing backward lower limb before foot is completely liftoff in the tour of free lower limb from supporting leg.This action is called as " preliminary swing ".Interim in preliminary swing, ankle lifts and lower limb start to swing backward.Meanwhile, the ground reaction force of this foot starts to reduce.It is unanimous on the whole that detected ground reaction force is less than the moment that moment of set counter-force and lower limb start to swing backward.Therefore, start to apply torque by the moment being less than set counter-force at detected ground reaction force, the walk supporting device disclosed in this description can assist walking motion while the sense of discomfort reducing user.
As previously mentioned, for determining that the set counter-force in moment is preferably greater than zero.Even if the size of set counter-force is set to zero, the walk supporting device disclosed in this description also can realize secondary good effect.By the size of set counter-force is set as zero, grounding sensor can be adopted to replace counter-force sensor.That is, a preferred embodiment of the technology disclosed in this description comprises the angular transducer at the grounding sensor in the moment of the less touch with the ground of detection first lower limb and the hip joint angle (angle around pitch axis) of detection the first lower limb.In this embodiment, also estimate that the foot of the first lower limb is relative to the relative position in the horizontal direction of waist based on detected hip joint angle.In this embodiment, during the position more than the foot of the first lower limb to be positioned at after than Lumbar both set a distances when the foot of one leg is liftoff, knee joint is started to the torque in the direction applying lower limb are rotated backward.By such formation, the walk supporting device disclosed in this description also can apply torque in the suitable moment to knee joint, consequently, can assist walking motion while the sense of discomfort reducing user.
Accompanying drawing explanation
Fig. 1 is the figure of the action of the foot illustrated in walking.
Fig. 2 is the figure that the parameter used in FIG is described.
Fig. 3 A is the schematic elevational view of the walk supporting device of embodiment.
Fig. 3 B is the schematic side elevation of the walk supporting device of embodiment.
Fig. 4 is the flow chart of the process performed by the walk supporting device of embodiment.
Fig. 5 is the figure of the example that target trajectory correction is described.
Fig. 6 is the state transition diagram of walking motion.
Fig. 7 is the figure of the condition that the state transformation illustrated in the walk supporting device of embodiment judges.
Fig. 8 is the figure of the condition that the state transformation illustrated in the walk supporting device of the second embodiment judges.
Detailed description of the invention
Before explanation a preferred embodiment of the present invention, the action of the lower limb in walking process is described.Fig. 1 is the figure of the action of the first lower limb illustrated in walking process.The time variations of knee angle (knee joint angle) Ak of graphical representation first lower limb shown in symbol Ak.The time variations of the ground reaction force Fr that the foot of graphical representation first lower limb shown in symbol Fr is subject to.Symbol Pr represents the time variations of the foot of the first lower limb relative to the relative position of waist.Symbol Dr represents the distance in the horizontal direction between the foot of the first lower limb and waist.Symbol Xp represents the benchmark (set relative position) of the state for judging the first lower limb.Carry out describing to set relative position Xp below.In the following description, the right lower limb of user is equivalent to the first lower limb, and the left lower limb of user is equivalent to the second lower limb.It should be noted that the briefing (tendency) of the time variations of each parameter of the graphical representation of the first figure, thus do not illustrate in detail.Further, it should be noted that the diagram of the part during supporting leg in FIG is omitted.
Fig. 2 is the figure that knee joint angle A k and relative position Pr are described.In fig. 2, solid line represents the first lower limb (right lower limb), and dotted line represents the second lower limb (left lower limb).Also be same in FIG.Straight line L1 represents link hip joint and kneed straight line.Straight line L1 is equivalent to the straight line of the longitudinal direction along thigh.Knee joint angle A k is represented as the angle from straight line L1 to lower limb.When knee joint is stretched out completely, knee joint angle A k=0.When gonycampsis is at a right angle, knee angle is Ak=+90 degree.
Relative position Pr by with waist position for initial point and with the front of user be on the occasion of X-axis on the positional representation of foot.Therefore, when foot is positioned at than waist rearward position, relative position Pr is negative value.Further, in other words, relative position Pr is that foot is relative to the relative position in the horizontal direction of waist.More accurately, relative position Pr is the relative position of the horizontal fore-and-aft direction of foot.In the present embodiment, relative position is by the positional representation of ankle.Further, symbol Vr is used to represent the speed of the horizontal fore-and-aft direction of foot (ankle).Speed Vr is obtained by the time diffusion (time difference) of the relative position of foot.
Return Fig. 1 to be described walking motion.Moment Ta is the moment that the heel of the first lower limb starts to lift.(a) of Fig. 1 represents the form of the foot on moment Ta.Change is started at moment Ta knee joint angle A k.That is, in (a) of Fig. 1, as shown in solid line (the first lower limb), at moment Ta, under the state of tiptoe ground connection, lower limb start to swing backward.Ground reaction force (counter-force that the foot of the first lower limb is subject to from ground) Fr reduces from the moment slightly more forward than moment Ta.Symbol Fp represents the benchmark (set counter-force) for detecting moment Ta.Carry out describing to set counter-force Fp below.
Moment Tb is the moment of less touch with the ground.(b) of Fig. 1 shows the form of the foot on moment Tb.At moment Tb, ground reaction force Fr is zero.Further, relative position Pr increases from moment Tb.That is, the foot of the first lower limb starts forward rocking motion.Before moment Tb, relative position is along with time decreased.
Moment Tc represents that knee joint angle A k is the maximum moment.(c) of Fig. 1 shows the form of the foot on moment Tc.Moment Td represents landing the moment of the first lower limb.(d) of Fig. 1 shows the form of the foot on moment Td.Ground reaction force Fr increases sharp from moment Td.
During being equivalent to the free lower limb of the first lower limb during moment Tb to Td.Before moment Tb and moment Td later during be equivalent to the supporting leg of the first lower limb during.In addition, in FIG, the diagram of the part during supporting leg is omitted.Be during knee joint angle changes under the state of the foot ground connection of the first lower limb during moment Ta to Tb, be called the preliminary swing phase.As can be seen from Figure 1, lower limb swing backward from moment Ta.In other words, the moment that lower limb start to swing backward during supporting leg is equivalent to the beginning of preliminary swing phase.Below, the moment being started to swing backward by lower limb is called the preliminary swing moment.The moment Ta of Fig. 1 is equivalent to the preliminary swing moment.
Preferably, the walk supporting device knee joint of the first lower limb being applied to torque estimates this preliminary swing moment Ta, and starts in this preliminary swing moment the torque applying the direction that lower limb are swung backward.Below, the preferred implementation of such walk supporting device is described.
The schematic elevational view of the walk supporting device 10 of the present embodiment is shown in Fig. 3 A, the schematic side elevation of walk supporting device 10 has been shown in Fig. 3 B.Walk supporting device 10 comprises the lower limb equipment 12 and controller 40 that the right lower limb (the first lower limb) along user installs.The walk supporting device of the present embodiment is the device of user that can not be freely movable for the knee joint of right lower limb.
The mechanical realization of lower limb equipment 12 is described.Lower limb equipment 12 is arranged on the outside of the first lower limb from the thigh of user along lower limb.Lower limb equipment 12 is made up of many union bodies mechanism with upper union body 14, lower union body 16 and foot union body 18.The upper end of upper union body 14 links with the mode that can swing and waist union body 30 via the first joint 20a.The upper end of lower union body 16 is linked with the lower end of the mode that can swing and upper union body 14 by the second joint 20b.Foot union body 18 is linked with the lower end of the mode that can swing and lower union body 16 by the 3rd joint 20c.Upper union body 14 is fixed to the thigh of user by band.Lower union body 16 is fixed to the lower limb of user by band.Foot union body 18 is fixed to the foot of user by band.The band of fixing feet union body 18 omits in the example shown.Waist union body 30 is fixed in the trunk (waist) of user.
If user installation leg equipment 12, then the first joint 20a, the second joint 20b and the 3rd joint 20c are positioned on the axle substantially identical with the pitch axis of the pitch axis of right hip joint of user, the pitch axis of knee joint and ankle separately.Each union body of lower limb equipment 12 can swing according to the action of the first lower limb of user.Each joint have detect with this joint links adjoin two union bodies between angle encoder 21, two union bodies between angle be equivalent to joint angle.That is, encoder 21 detects the angle in each joint.The encoder 21 of the first joint 20a detects the joint angle of right hip joint around pitch axis of user.The encoder 21 of the second joint 20b detects the joint angle of right knee joint around pitch axis of user.The encoder 21 of the 3rd joint 20c detects the joint angle of right ankle around pitch axis of user.Below, sometimes the encoder group 21 be arranged on each joint is referred to as angular transducer 21.
Foot union body 18 is provided with counter-force sensor 19.Counter-force sensor 19 is installed in former and later two positions of sole.The main body of counter-force sensor 19 is load cells, and detects the load putting on sole.This load is equivalent to the ground reaction force that foot is subject to from ground.
Second joint 20b is provided with motor (executor) 32.Motor 32 is positioned at the kneed outside of user.Motor 32 is positioned on the axle substantially identical with the knee joint of user.Motor 32 can make lower union body 16 relatively swing relative to upper union body 14.That is, motor 32 can apply torque to the right knee joint of user.
This walk supporting device applies torque with the use of the walking motion of person by the right knee joint (the first lower limb knee joint) of motor 32 pairs of user, carrys out auxiliary walking motion.
The control treatment that walk supporting device 10 performs is described.Control treatment is performed by controller 40.The target trajectory of the knee angle for walking motion is previously stored with in controller 40.Target trajectory is equivalent to the time series data of the knee angle Ak of Fig. 1.Controller 40 controls motor 32 substantially, follows target trajectory to make the knee angle detected by sensor.As described below, controller 40 estimates the preliminary swing moment according to sensing data, and with the mode revise goal track making motor 32 start the torque in the direction applying to make lower limb swing backward in this moment.
Controller 40, except the target trajectory stored for walking motion, also stores the target trajectory for being converted to stopping from walking.For the target trajectory for being converted to stopping from walking, omit the description.
The flow process of the process performed by controller 40 has been shown in Fig. 4.The process of Fig. 4 is repeatedly executed at each control cycle.Controller 40 obtains the sensing data (S2) of angular transducer 21 and counter-force sensor 19.Next, according to the sensing data of angular transducer 21, controller 40 estimates that right crus of diaphragm is relative to the relative position Pr (S4) on the horizontal fore-and-aft direction of waist.Relative position Pr, according to around the hip joint angle of pitch axis and knee angle, is obtained by so-called kinesiology conversion (kinematic conversion) in robot engineering.
Next, controller 40 judges whether the first lower limb is supporting leg (S6).Whether this judgement is greater than set threshold value (set counter-force Fd) based on detected ground reaction force Fr is determined.Set counter-force Fd be set equal to zero or slightly larger than zero value.When detected ground reaction force Fr is greater than set counter-force Fd, be judged as that the first lower limb is supporting leg, otherwise be judged as that the first lower limb is free lower limb.
When being judged as that the first lower limb is not supporting leg (S6: no), following controller 40 judges whether walking motion continues (S18).Carry out describing to a concrete example of this judgement below.When controller 40 is judged as that walking motion continues, controller 40 continues the motor control (S18: be, S14) employing target trajectory.On the other hand, when controller 40 is judged as that walking motion does not continue, that is, when being judged as being converted to stopping from walking motion, so far target trajectory is become the stopping track of free lower limb, and based on this stopping TRAJECTORY CONTROL motor (S18: no, S20, S14).
In step s 6, when being judged as that the first lower limb is supporting leg (S6: yes), following controller 40 judges whether walking motion continues (S8).Carry out describing to a concrete example of this judgement below.When controller 40 is judged as that walking motion does not continue, that is, when being judged as being converted to stopping from walking motion, target trajectory is so far become the stopping track of supporting leg by controller 40, and based on this stopping TRAJECTORY CONTROL motor (S8: no, S16, S14).
When being judged as that walking motion continues in step s 8 (S8: yes), be equivalent to situation below.That is, the first lower limb is current be in supporting leg during, and during arbitrary free lower limb will be converted to.Now, the preliminary swing moment (S10) estimated by controller 40.Particularly, the moment that the condition of two is below set up is defined as the preliminary swing moment by controller 40.Condition is the condition that estimated relative position Pr is positioned at than both position of more than set a distance Dr after Lumbar.In the diagram, this condition, by " Pr < Xp ", represents.Xp is called set relative position.Set relative position Xp is set at than waist rearward position.That is, both set a distance is equivalent to the distance between waist position and set relative position Xp.
Another condition is that detected ground reaction force Fr is less than set counter-force Fp.This condition is represented by " Fr < Fp " in the diagram.In addition, in the control cycle of last time, should be " Fr > Fp ", therefore another condition be equivalent to for determining that detected ground reaction force to change to the condition in the moment of the value of set below counter-force Fp from the value of set more than counter-force Fp.In other words, another condition is equivalent to for determining that detected ground reaction force is less than the condition in the moment of set counter-force.At this, as shown in Fig. 1, set counter-force Fp be equivalent to knee angle near the terminal during supporting leg start change moment Ta on ground reaction force.The value of set relative position Xp and set counter-force Fp depends on build and the walking posture of user, therefore pre-determines with parsing by experiment.
Be described based on the example of the example shown in Fig. 1 to the detection in preliminary swing moment.In the moment slightly more forward than moment Ta, " Pr < Xp " sets up.At moment Ta, " Fr < Fp " sets up, and this is that moment Ta is detected as the preliminary swing moment instantaneously.
By the process of step S10, estimate that lower limb start the moment (preliminary swing moment) swung backward.The process of step S10 is equivalent to determine that the sensing data of controller 40 based on counter-force sensor 19 and angular transducer 21 starts the process in the moment of the torque in the direction applying lower limb are swung backward to knee joint.After the process of step S10, controller 40 revise goal track, makes to export the torque (S12) in the direction that lower limb are swung backward in this preliminary swing moment.Then, controller 40 controls (S14) motor based on the target trajectory be corrected.The process of step S12 and its later step S14 is equivalent to process below: when controller 40 is less than set counter-force Fp at the ground reaction force detected during the position more than the foot of the first lower limb to be positioned at after than Lumbar both set a distances, knee joint is started to the torque in the direction applying lower limb are rotated backward.
One example of the target trajectory correction in step S12 is described.Figure 5 illustrates an example of target trajectory correcting process.The dotted line Ak1 of Fig. 5 represents the knee angle target trajectory before correction.Dotted line Fr1 represents the ground reaction force corresponding to the target trajectory Ak1 before correction.Dotted line Pr1 represents the relative position corresponding to the target trajectory Ak1 before correction.Controller 40 also stores based target track Ak1 predetermined ground reaction force Fr1 and relative position Pr1 except target trajectory Ak1.That is, controller 40 stores the predetermined preliminary swing moment Ta of based target track Ak1.
The chain-dotted line sFr of Fig. 5 represents detected ground reaction force, and chain-dotted line sPr represents estimated relative position.At moment Tz, assuming that the judged result of step S10 is "Yes".In step s 12, controller 40 calculates the time difference dT of preliminary swing moment Tz and the predetermined preliminary swing moment Ta estimated in step S10.(a) of Fig. 5 represents this computing.Next, controller 40 makes the time difference dT that target trajectory Ak1 calculations of offset goes out.(b) of Fig. 5 shows this migration processing.The symbol Ak2 of Fig. 5 represents revised target trajectory.In addition, in Figure 5, the relative position sPr before moment Tz is by straight drawing line.But it should be noted that in fact, as shown in Figure 1, the graph plots of sPr illustrate the process of relative position along with the time from waist position gradually backward away from curve.
In step S14, controller 40 controls motor based on revised target trajectory Ak2.After target trajectory is corrected, from moment Tz, the target trajectory Ak2 of knee angle starts to increase.That is, controller 40 starts at estimated preliminary swing moment Tz the torque applying the direction that lower limb are swung backward.
Controller 40 controls motor based on revised target trajectory Ak2, and in fact ground reaction force Fr1 predetermined thus becomes Fr2 (symbol (c) with reference to Fig. 5).Meanwhile, in fact predetermined relative position Pr1 becomes Pr2 (symbol (d) with reference to Fig. 5).So, revise goal track makes it fit mutually with the estimated preliminary swing moment, and the moment applying the torque in the direction that lower limb are swung backward is roughly consistent with the intention of user.When the walk supporting device of the present embodiment plays function well, when being applied with the torque in the direction making lower limb swing backward, user does not feel well hardly.That is, walk supporting device 10 can assist walking motion while the preliminary swing phase reduces the discomfort of user generation significantly.
During belonging to state controller 40 being judged to the first lower limb (right lower limb), the process in (stage) is described.Fig. 6 shows the kind in the stage that the first lower limb can belong to.The benchmark of the conversion between the controller 40 judgement stage has been shown in Fig. 7.First lower limb can belong to " supporting leg ", " free lower limb " and " stopping " these three kinds of stages.In addition, it should be noted that following judgement also can be applicable to the second lower limb (left lower limb).
Controller 40, when the relative position Pr of the first lower limb belonging to stop phase is positioned at than set relative position Xa rearward position, is judged as that the first lower limb has transformed to the supporting leg stage (conversion A).Set relative position Xa is set to than waist position rearward and than forward in order to estimate the set relative position Xp that the preliminary swing moment uses.
Controller 40, when the relative position Pr of the first lower limb belonging to stop phase is more forward than set relative position Xb and ground reaction force Fr is less than set counter-force Fb and the speed Vr of the foot of the first lower limb is larger than set speed Vb, is judged as that the first lower limb has transformed to the free lower limb stage (conversion B).Set relative position Xb is set to more forward than waist position.
Controller 40 belong to the supporting leg stage the first lower limb relative position Pr than set relative position Xp rearward and the ground reaction force Fr of the first lower limb is less than set counter-force Fp time, be judged as that the first lower limb has transformed to the free lower limb stage (conversion C).In addition, this process is equivalent to the judgement of aforesaid step S10.It should be noted that in conversion C, belong to first lower limb in supporting leg stage transforms to the free lower limb stage through the preliminary swing stage (preliminary swing phase).During the preliminary swing stage is equivalent to the terminal in supporting leg stage.
Controller 40, when the relative position Pr of the first lower limb belonging to the free lower limb stage is more forward than set relative position Xd and ground reaction force Fr is larger than set counter-force Fd and speed Vr that is foot is less than set speed Vd, is judged as that the first lower limb has transformed to the supporting leg stage (conversion D).Set relative position Xd is set to more forward than waist position.
Controller 40, when the first lower limb continues to belong to supporting leg stage more than given time Td1 muchly, is judged as that the first lower limb has transformed to stop phase (conversion E).Further, controller 40, when the first lower limb continues to belong to free lower limb stage more than given time Td2 muchly, is judged as that the first lower limb has transformed to stop phase (conversion F).The judgement of conversion E is equivalent to the judgement of the "No" in step S8.The judgement of conversion F is equivalent to the judgement of the "No" in step S18.
Next, the walk supporting device of the second embodiment is described.The walk supporting device employing grounding sensor of the second embodiment replaces the counter-force sensor 19 in the walk supporting device 10 of the first embodiment.Grounding sensor exports connection (ground connection) when the ground connection of foot being detected, exports disconnect (ungrounded) when the ground connection of foot not detected.Therefore, the output of grounding sensor is detected as from disconnecting the moment being transformed into connection the moment that lands by the walk supporting device of the second embodiment.Further, the output of grounding sensor is detected as the liftoff moment from connecting the moment being transformed into disconnection by walk supporting device.Below, " counter-force sensor 19 " is renamed as work " grounding sensor 19 ".The process of the step S10 of the walk supporting device of the second embodiment is different from the situation of the first embodiment.The walk supporting device of the second embodiment replaces the process of the step S10 of the first embodiment, performs following process.
Walk supporting device the foot of the first lower limb relative position Pr than set relative position Xp rearward and the liftoff moment is detected time, revise goal track.Walk supporting device revise goal track makes the torque starting to apply lower limb are swung backward.The concrete example of the correction of target trajectory is roughly the same with the situation of the first embodiment.The walk supporting device of the second embodiment comprises technical characteristic below.Walk supporting device comprise to the knee joint of the first lower limb apply torque executor's (motor 32), detect the grounding sensor (19) in the moment of the less touch with the ground of the first lower limb and detect the angular transducer (21) at the hip joint angle around pitch axis of the first lower limb.Walk supporting device performs following process.Walk supporting device based on the foot of detected hip joint angular estimation first lower limb relative to the relative position Pr in the horizontal direction of waist.Then, walk supporting device when the foot of the first lower limb be positioned at the position of both more than set a distance Dr after than Lumbar and the foot of the first lower limb is liftoff when, knee joint is started to the torque in the direction applying lower limb are rotated backward.
The walk supporting device of the second embodiment starts the torque applying lower limb are swung backward in the liftoff moment.The walk supporting device of the second embodiment slightly inferior to the walk supporting device of the first embodiment, but can assist walking motion while the sense of discomfort reducing user generation.
During belonging to the state controller of the walk supporting device of the second embodiment being judged to the first lower limb, the process of (stage, with reference to Fig. 6) is described.The benchmark of the conversion between the controller judgement stage that the walk supporting device of the second embodiment has been shown in Fig. 8.First lower limb can belong to " supporting leg ", " free lower limb " and " stopping " these three kinds of stages.In addition, it should be noted that following judgement also can be applicable to the second lower limb (left lower limb).In addition, the judgement of conversion A, conversion E and conversion F is identical with the situation of the first embodiment, and description will be omitted.
When the speed Vr that controller is detected the foot of (output of grounding sensor: change to disconnection from connection) and the first lower limb in the relative position Pr of the first lower limb belonging to stop phase and the moment that lands that is the first lower limb more forward than set relative position Xb is larger than set speed Vb, be judged as that the first lower limb has transformed to the free lower limb stage (conversion B).
Controller belong to the supporting leg stage the first lower limb relative position Pr than set relative position Xp rearward and the liftoff moment of the first lower limb is detected time (output of grounding sensor: change to disconnection from connection), be judged as that the first lower limb has transformed to the free lower limb stage (conversion C).In addition, this process is equivalent to the judgement of the step S10 in the second embodiment.The conversion C that it should be noted that in the second embodiment is the conversion of supporting leg stage to the free lower limb stage from comprising the preliminary swing stage.
Controller, when the speed Vr that the relative position Pr of the first lower limb belonging to the free lower limb stage and land moment more forward than set relative position Xd is detected (output of grounding sensor: from being disconnected to connection) and foot is less than set speed Vd, is judged as that the first lower limb has transformed to the supporting leg stage (conversion D).Set relative position Xd is set to more forward than waist position.
Above, preferred embodiments of the present invention have been disclosed for illustrative.Carry out describing to the lime light relevant to the technology disclosed in this description.The walk supporting device 10 of the first embodiment is based on the detection data estimation preliminary swing moment of counter-force sensor 19 and angular transducer 21, and the sense of discomfort reduction that revise goal track makes user produce when applying torque.The feature of such walk supporting device can represent as follows.The controller of walk supporting device stores the target trajectory of the knee angle of the first lower limb (one leg).Controller controls executor in the mode making the knee angle detected and follow target trajectory.Target trajectory describes the time of knee angle when being converted to free lower limb from supporting leg through change.Controller also stores the time of the intended ground counter-force corresponding to target trajectory through delta data.Based on detected hip joint angle, controller estimates that the foot of the first lower limb is relative to the relative position Pr in the horizontal direction of waist.More than both set a distance (Pr < Xp) to be determined in the supporting leg phase (preferably, supporting leg after date semiduation) of the first lower limb after estimated relative position Pr is than Lumbar by controller and detected ground reaction force Fr is less than moment of set counter-force Fp.Controller makes target trajectory offset the time difference dT in the moment being less than set counter-force Fp relative to intended ground counter-force.
Further, preferably, use the slant angle sensor at the absolute hip joint angle that can detect relative to vertical, replace the encoder 21 detecting hip joint angle.By using such slant angle sensor, the relative position of foot can be estimated exactly.
Above, object lesson of the present invention is described in detail, but these only examples, do not limit claims.The technology that claims are recorded comprises the technology of carrying out all distortion to above illustrative object lesson, changing.The technology essential factor illustrated in this description or accompanying drawing plays technical serviceability separately or by various combination, the combination that when being not limited to apply for, claim is recorded.In addition, in this description or accompanying drawing, illustrative technology can reach multiple object simultaneously, and by reaching the serviceability that one of them object itself is come on actualizing technology.
Claims (3)
1. a walk supporting device, the walking motion of auxiliary user, described user has a sick lower limb and a healthy leg, and described walk supporting device comprises:
Executor, described executor applies torque to the knee joint of described sick lower limb,
The feature of described walk supporting device is, described walk supporting device also comprises:
Counter-force sensor, the ground reaction force that the foot that described counter-force sensor detects described sick lower limb is subject to from ground; And
Angular transducer, described angular transducer detects the hip joint angle around pitch axis of described sick lower limb,
Described walk supporting device, based on the hip joint angle detected, estimates that the foot of described sick lower limb is relative to the relative position in the horizontal direction of waist, and,
During the foot of described sick lower limb is positioned at the position after than Lumbar more than predetermined distance, when the ground reaction force detected is less than predetermined counter-force, described knee joint is started to the torque in the direction applying the lower limb of described sick lower limb are swung backward,
Described lower limb refer to the part between the knee joint of described user and ankle.
2. walk supporting device as claimed in claim 1, it is characterized in that, described predetermined counter-force is greater than zero.
3. a walk supporting device, the walking motion of auxiliary user, described user has a sick lower limb and a healthy leg, and described walk supporting device comprises:
Executor, described executor applies torque to the knee joint of described sick lower limb,
The feature of described walk supporting device is, described walk supporting device also comprises:
Grounding sensor, described grounding sensor detects the moment of the less touch with the ground of described sick lower limb; And
Angular transducer, described angular transducer detects the hip joint angle around pitch axis of described sick lower limb,
Described walk supporting device, based on the hip joint angle detected, estimates that the foot of described sick lower limb is relative to the relative position in the horizontal direction of waist, and,
During the foot of described sick lower limb is positioned at the position after than Lumbar more than predetermined distance, when the less touch with the ground of described sick lower limb, described knee joint is started to the torque in the direction applying the lower limb of described sick lower limb are swung backward,
Described lower limb refer to the part between the knee joint of described user and ankle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2009/069319 WO2011058641A1 (en) | 2009-11-13 | 2009-11-13 | Walking aid device |
Publications (2)
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| CN102665638A CN102665638A (en) | 2012-09-12 |
| CN102665638B true CN102665638B (en) | 2015-05-13 |
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| EP (1) | EP2500007B1 (en) |
| JP (1) | JP5640991B2 (en) |
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- 2009-11-13 JP JP2011540363A patent/JP5640991B2/en active Active
- 2009-11-13 US US13/509,449 patent/US9216131B2/en active Active
- 2009-11-13 EP EP09851271.8A patent/EP2500007B1/en not_active Not-in-force
- 2009-11-13 WO PCT/JP2009/069319 patent/WO2011058641A1/en active Application Filing
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| CN102665638A (en) | 2012-09-12 |
| JPWO2011058641A1 (en) | 2013-03-28 |
| WO2011058641A1 (en) | 2011-05-19 |
| EP2500007A4 (en) | 2016-03-09 |
| JP5640991B2 (en) | 2014-12-17 |
| US9216131B2 (en) | 2015-12-22 |
| EP2500007A1 (en) | 2012-09-19 |
| US20120226203A1 (en) | 2012-09-06 |
| EP2500007B1 (en) | 2018-12-26 |
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